Method and device for controlling flight attitude of carrier rocket, computer and medium

Abstract

The invention discloses a carrier rocket flight attitude control method and device, a computer and a medium, and the method comprises the steps: obtaining the startup and shutdown frequency of a carrier rocket attitude control engine in a current flight period; comparing the startup and shutdown frequency with the inherent frequency of the liquid power system storage tank diaphragm; according to a comparison result, correcting a startup and shutdown instruction of the attitude control engine in the current flight period; and controlling the flight attitude of the rocket body based on the corrected startup and shutdown instruction. According to the method, resonance can be prevented, and the flying safety of the rocket body is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flight environment and attitude control of launch vehicles, and particularly to a method, device, computer and medium for controlling the flight attitude of a launch vehicle. Background Art

[0002] During the flight of a launch vehicle, especially after entering the atmosphere, the power source is mainly a liquid power system. The liquid power system adopts a helium gas extrusion dual-component propulsion engine system solution, which consists of an inflation valve, a gas cylinder, a pressure reducing valve, a safety valve, a storage tank, an oxidant, a fuel, an electric explosion valve, a solenoid valve, an engine (thruster), pipelines, filters, sensors, passive thermal control devices, cables and general assembly direct parts, etc., and has the functions of storing, managing and transporting propellants and pressurized gases. Under the control of the rocket control system, it provides the impulse, control force or torque required for the launch vehicle to enter orbit, perform orbital maneuvers and attitude control, etc.

[0003] In the liquid power system, the storage tank is the weakest link and is greatly affected by the environment. Currently, the liquid power system mainly adopts a double-membrane co-body storage tank solution. The advantage of this solution is simple structure and low cost, but it has high requirements for the flight environment and bears small impact loads. If the diaphragm ruptures and the oxidant and fuel in the storage tank are mixed, an explosion will occur. Therefore, how to ensure the safety of the storage tank diaphragm is an urgent problem to be solved at present. Summary of the Invention

[0004] Embodiments of the present application provide a method, device, computer and medium for controlling the flight attitude of a launch vehicle. The method compares the switching frequency of the attitude control engine with the natural frequency of the storage tank diaphragm of the liquid power system, and adjusts the switching frequency of the attitude control engine according to the comparison result to prevent resonance and improve the flight safety of the rocket body.

[0005] In a first aspect, the present invention provides the following technical solution through an embodiment of the present invention:

[0006] A method for controlling the flight attitude of a launch vehicle, comprising: obtaining the switching frequency of the attitude control engine of the launch vehicle in the current flight period; comparing the switching frequency with the natural frequency of the storage tank diaphragm of the liquid power system; correcting the switching instruction of the attitude control engine in the current flight period according to the comparison result; and controlling the flight attitude of the rocket body based on the corrected switching instruction.

[0007] Preferably, the obtaining the switching frequency of the attitude control engine of the launch vehicle in the current flight period includes: obtaining the number of times the attitude control engine is switched on and off in the current flight period; and determining the switching frequency of the attitude control engine of the launch vehicle according to the number of times of switching on and off and the preset flight period.

[0008] Preferably, obtaining the number of start-up and shutdown times of the attitude control engine in the current flight period includes: obtaining the flight parameters of the launch vehicle; and determining the number of start-up and shutdown times of the attitude control engine in the current flight period according to the flight parameters.

[0009] Preferably, determining the start-up and shutdown frequency of the attitude control engine of the launch vehicle according to the number of start-up and shutdown times and the preset flight period includes: determining the start-up and shutdown frequency of the attitude control engine of the launch vehicle according to the ratio of the number of start-up and shutdown times to the preset flight period.

[0010] Preferably, correcting the start-up and shutdown command of the attitude control engine in the current flight period according to the comparison result includes: if the difference between the start-up and shutdown frequency and the natural frequency is less than the safety threshold, correcting the start-up and shutdown command of the attitude control engine in the current flight period.

[0011] Preferably, if the difference between the start-up and shutdown frequency and the natural frequency is less than the safety threshold, correcting the start-up and shutdown command of the attitude control engine in the current flight period includes: if the start-up and shutdown frequency is greater than the natural frequency and less than or equal to the sum of the natural frequency and the safety threshold, setting the start-up and shutdown command of the attitude control engine in the current flight period to zero, and then controlling the attitude control engine to start; if the start-up and shutdown frequency is less than the natural frequency and greater than or equal to the difference between the natural frequency and the safety threshold, setting the start-up and shutdown command of the attitude control engine in the current flight period to zero.

[0012] Preferably, before obtaining the start-up and shutdown frequency of the attitude control engine of the launch vehicle in the current flight period, it further includes: obtaining the natural frequency of the tank diaphragm by modal test.

[0013] In a second aspect, through an embodiment of the present invention, the present invention provides the following technical solution:

[0014] A control device for the flight attitude of a launch vehicle includes:

[0015] An acquisition module, configured to acquire the start-up and shutdown frequency of the attitude control engine of the launch vehicle in the current flight period;

[0016] A comparison module, configured to compare the start-up and shutdown frequency with the natural frequency of the tank diaphragm of the liquid propulsion system;

[0017] A correction module, configured to correct the start-up and shutdown command of the attitude control engine in the current flight period according to the comparison result;

[0018] A control module, configured to control the flight attitude of the rocket body based on the corrected start-up and shutdown command.

[0019] In a third aspect, through an embodiment of the present invention, the following technical solution is provided:

[0020] An on-board computer includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the method described in any one of the foregoing first aspects are implemented.

[0021] In a fourth aspect, through an embodiment of the present invention, the following technical solution is provided:

[0022] A computer-readable storage medium stores a computer program thereon. When the program is executed by a processor, the steps of the method described in any one of the foregoing first aspects are implemented.

[0023] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0024] The method for controlling the flight attitude of a launch vehicle provided in the embodiment of the present invention obtains the on-off frequency of the attitude control engine of the launch vehicle in the current flight period, compares the on-off frequency with the natural frequency of the tank diaphragm, and corrects the on-off command of the attitude control engine in the current flight period according to the comparison result. By inversely adjusting the on-off frequency of the attitude control engine according to the natural frequency of the diaphragm, the on-off frequency and the natural frequency of the tank diaphragm are always not equal in each flight period, preventing resonance from occurring, ensuring that the tank diaphragm is not damaged, and improving the flight safety of the rocket body. The present application conceives to protect the tank diaphragm by adjusting the on-off frequency of the attitude control engine. Using this method does not require additional strengthening of the stiffness of the tank and the diaphragm. It not only has low cost but also can reduce the weight of the tank. Moreover, the control method has a simple process and strong adaptability, and has high engineering application value. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a flowchart of the method for controlling the flight attitude of a launch vehicle in the embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the device for controlling the flight attitude of a launch vehicle in the embodiment of the present invention;

[0028] Figure 3 It is a structural schematic diagram of the on-board computer in the embodiment of the present invention. Detailed implementation manners

[0029] The inventor found that during the flight of the rocket body, in the attitude control loop, a liquid attitude control engine in the liquid power system is used as the actuator. Generally, a side jet system composed of 6 to 10 liquid attitude control engines is used to achieve three-channel attitude control of the rocket body in pitch, yaw, and roll. During the side jet control process, a discrete control method based on a threshold is adopted. The opening duration and frequency of the nozzle are determined by the magnitude of external interference and the initial angular deviation and angular rate of the rocket body. Since the interference and the initial attitude of the rocket body are random, it is possible that the opening frequency of the attitude control engine is the same as the frequency of the tank diaphragm. Since the local mode of the tank diaphragm is relatively low, if it coincides with the control frequency or other frequencies, resonance will occur, resulting in diaphragm rupture and bringing flight risks.

[0030] In view of this, the embodiments of the present application provide a method, device, computer, and medium for controlling the flight attitude of a launch vehicle. This method compares the on-off frequency of the attitude control engine with the natural frequency of the tank diaphragm, and adjusts the on-off frequency of the attitude control engine according to the comparison result to prevent resonance and improve the flight safety of the rocket body.

[0031] The technical solution of the embodiments of the present application to solve the above technical problems has the following general idea:

[0032] A method for controlling the flight attitude of a launch vehicle includes: obtaining the on-off frequency of the attitude control engine of the launch vehicle in the current flight period; comparing the on-off frequency with the natural frequency of the tank diaphragm of the liquid power system; correcting the on-off command of the attitude control engine in the current flight period according to the comparison result; and controlling the flight attitude of the rocket body based on the corrected on-off command.

[0033] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0034] It should be noted that the principle of rocket body attitude control is as follows: The control scheme of "strapdown inertial unit - on-board computer - actuator" is used. The inertial measurement unit fixedly connected to the rocket body outputs the apparent velocity increment and angular increment in the coordinate axis direction. After calculation, the quaternion of the rocket body attitude motion is obtained. The quaternion of the rocket body attitude motion is compared with the programmed attitude angle to form an angular deviation signal. When the angular deviation is greater than the switch threshold, the attitude control engine of the liquid power system acts, generating a control force and a control torque acting on the rocket body, thereby manipulating the attitude motion of the rocket body to keep the rocket body attitude stable and achieve tracking of the programmed attitude angle.

[0035] The on-off of the attitude control engine referred to in the present application may refer to: the opening and closing control of the corresponding attitude control engine during the flight attitude control of the launch vehicle.

[0036] Specifically, the attitude control of a launch vehicle generally consists of three channels: pitch, yaw, and roll. Taking the pitch channel as an example, when the angular deviation is greater than the switch threshold, the attitude control engine of the pitch channel is turned on; otherwise, it remains off. The on / off commands of the attitude control engine are introduced below, as shown in the following formula:

[0037]

[0038] Wherein, is the pitch attitude angle deviation, Mx is the switch threshold, and P y (i) is the current beat control command for the flight operation of the launch vehicle. The "±" represents the direction of the command, corresponding to the attitude control engines installed at the positive and negative pitch channel positions. "1" represents that the attitude control engine is turned on, and "0" represents that the attitude control engine is turned off. The duration of the command is consistent with the flight control period T k which is generally 10 ms for the flight control period T k The value is 10 ms. There is a 10-ms interval required for restarting after shutdown. Therefore, one switch cycle is at least 20 ms. Among them, a complete on / off command is from 0 to +1, then from +1 to 0, or from 0 to -1, then from -1 to 0. By modifying the on / off command, the on / off frequency of the attitude control engine can be adjusted.

[0039] In a first aspect, a method for controlling the flight attitude of a launch vehicle provided by an embodiment of the present invention, specifically, as Figure 1 shown, the method includes the following steps S101 to S104:

[0040] Step S101: Obtain the on / off frequency of the attitude control engine of the launch vehicle during the current flight period;

[0041] Step S102: Compare the on / off frequency with the natural frequency of the diaphragm of the liquid propulsion system tank.

[0042] In this application, by presetting the flight period of the launch vehicle, the number of on / off operations of the attitude control engine of the launch vehicle is calculated separately for each flight period. The on / off frequency during each flight period is compared with the natural frequency, and according to the comparison result, the on / off command during each flight period is corrected.

[0043] For example, the current flight period (the 0th flight period) is from 0 s to T0, where T0 is 0.2 s. The number of times the attitude control engine is turned on and off within the current flight period is determined to be N(0). Assuming that a switching cycle (the total duration of turning on and off) is 20 ms, the maximum number of times of turning on and off within one flight period is 0.2 / 0.02 s = 10 times. The next flight period (the 1st flight period) is from 0 s + Tk to T0 + Tk, where Tk is 10 ms. The next flight period is from 0.01 s to 0.21 s. The number of times the attitude control engine is turned on and off within the current flight period is determined to be N(1),... The (i + 1)th flight period is from 0 s + i × Tk to T0 + i × Tk, and the number of times the attitude control engine is turned on and off within the current flight period is determined to be N(i), and so on.

[0044] Among them, the flight period T0 is a preset fixed value. Optionally, the flight duration T within the flight period can be any value from 0.2 s to 2 s, such as 0.3 s, 0.5 s, 1 s, 2 s, etc. The specific value can be set according to needs, and this application does not make any limitations.

[0045] During the flight of the launch vehicle, for each flight period, obtain the on / off frequency of the attitude control engine of the launch vehicle under the current flight period. That is, at the 0th flight period, obtain the on / off frequency of the attitude control engine of the launch vehicle during this flight period. At the first flight period, obtain the on / off frequency of the attitude control engine of the launch vehicle during this flight period.

[0046] In a specific embodiment, obtaining the on / off frequency of the attitude control engine of the launch vehicle under the current flight period may include: obtaining the number of times the attitude control engine is turned on and off under the current flight period; and determining the on / off frequency of the attitude control engine of the launch vehicle according to the number of times of turning on and off and the preset flight period.

[0047] As an example, obtaining the number of times the attitude control engine is turned on and off under the current flight period may include: obtaining the flight parameters of the launch vehicle; and determining the number of times the attitude control engine is turned on and off within the current flight period according to the flight parameters. Among them, the flight parameters may include flight trajectory, flight speed, and attitude, etc.

[0048] It should be noted that the number of times of turning on and off is the number of times the engine is turned on and off to adjust the attitude of the aircraft, which can reflect the activity frequency of the engine when performing the attitude control task.

[0049] Specifically, based on the predetermined flight mission and target requirements, the flight parameters of the launch vehicle can be determined, that is, the attitude control requirements for flight; then according to the attitude control requirements, the number of on / off commands issued by the attitude control engine within the current flight period can be determined, and the number of times the attitude engine is turned on and off can be determined.

[0050] As an embodiment, determining the on-off frequency of the attitude control engine of the launch vehicle according to the number of on-off operations and a preset flight period may include: determining the on-off frequency of the attitude control engine based on the ratio between the number of on-off operations N and the preset flight period T, so as to obtain the corresponding on-off frequencies under different numbers of on-off operations.

[0051] Specifically, during the flight, the on-off frequency f = N / t of the engine within the flight period T0 (0s + Tk to T0 + Tk) is calculated in real time, where N is the number of on-off operations within the flight period T0.

[0052] If T0 is 0.2 s and the number of on-off operations N is 10 times, the on-off frequency of the attitude control engine is The on-off frequency of the attitude control engine is shown in Table 1 below:

[0053] Table 1

[0054] Number of power on / off times Frequency (Hz) 1 5.00 2 10.00 3 15.00 4 20.00 5 25.00 6 30.00 7 35.00 8 40.00 9 45.00 10 50.00

[0055] When the number of on-off operations is 1 time, the corresponding on-off frequency of the attitude control engine is 5 Hz; when the number is 2 times, the on-off frequency is 10 Hz, and so on.

[0056] In a specific embodiment, before obtaining the on-off frequency of the attitude control engine of the launch vehicle in the current flight period, it further includes: obtaining the natural frequency of the tank diaphragm. As an example, obtaining the natural frequency of the tank diaphragm may include: obtaining the natural frequency of the tank diaphragm by using a modal test.

[0057] In a specific embodiment, obtaining the natural frequency of the tank diaphragm by using a modal test may include: applying an excitation to the tank diaphragm through an excitation device (such as a shaker) and collecting the vibration response signal of the diaphragm; processing the collected vibration signal by using modal analysis software; in the frequency domain, analyzing the vibration signal by using the peak detection method or the single-degree-of-freedom method to extract the natural frequency of the tank diaphragm. During the actual test process, in order to ensure the reliability of the test results, multiple repeated tests can be carried out.

[0058] In a specific embodiment, comparing the on-off frequency with the natural frequency of the tank diaphragm of the liquid power system may include: taking the difference between the on-off frequency and the natural frequency.

[0059] Step S103, modifying the on-off instruction of the attitude control engine in the current flight period according to the comparison result;

[0060] Step S104, controlling the flight attitude of the rocket body based on the modified on-off instruction.

[0061] To prevent resonance in rocket attitude control, the attitude control engine's on / off frequency and the tank diaphragm's frequency must be unequal and separated by a certain frequency interval to avoid being close to or multiples of each other. Based on the difference between the natural frequency and the on / off frequency, the attitude control engine's on / off commands are modified to keep the frequency within the tank diaphragm's natural frequency and its integer multiples.

[0062] In a specific embodiment, based on the comparison results, the power on and off instructions of the attitude control engine in the current flight period are corrected, which may include: if the difference between the power on and off frequency and the natural frequency is less than the safety threshold, the power on and off instructions of the attitude control engine in the current flight period are corrected.

[0063] Among them, the safety threshold Δf can be determined based on the deviation and resonance margin, for example: the deviation is the diaphragm center frequency f c The deviation is approximately 5% of the original frequency. Assuming the rocket tank diaphragm frequency is 20Hz, the corresponding deviation is 1Hz. To prevent resonance, a certain frequency margin is required. This resonance margin can be selected based on the resonance amplitude, for example, 1Hz to 3Hz, which effectively staggers resonance. For example, the safety threshold Δf can be 2 to 5Hz.

[0064] As an example, if the difference between the on / off frequency and the natural frequency is less than a safety threshold, then the on / off command for the attitude control engine for the current flight period is modified. This may include: if the on / off frequency is greater than the natural frequency and less than or equal to the sum of the natural frequency and the safety threshold, then the on / off command for the attitude control engine for the current flight period is reset to zero, and then the attitude control engine is turned on; if the on / off frequency is less than or equal to the natural frequency and greater than or equal to the difference between the natural frequency and the safety threshold, then the on / off command for the attitude control engine for the current flight period is reset to zero. Setting the on / off command to zero may mean turning off the attitude control engine, and then turning it on again in the same direction as the previous cycle.

[0065] This application modifies the on / off command of the asset control engine when it determines the on / off frequency is close to the natural frequency, so that the on / off frequency avoids the natural frequency. This correction method ensures the positive and negative directions of the command while minimizing the introduction of additional interference, thus avoiding the interference caused by the inconsistency between the modified attitude control engine start command and the actual control command, which may cause the angular deviation to exceed the on / off threshold.

[0066] Specifically, the correction method may include: if the difference between the on / off frequency of the attitude control engine and the natural frequency is greater than the safety threshold Δf, that is, f(i)>f c +Δf or f(i)<f c -Δf, then no correction will be made to the power on / off command;

[0067] If the frequency f(i) is close to f c +Δf, that is, the opening frequency of the attitude control engine is relatively high, indicating that the angular deviation of the rocket is frequently greater than the switching threshold. The possible reason is that the external interference is relatively large. After setting the switching instruction of the attitude control engine in the current flight period to zero, turn on the engine one more time to stagger the switching frequency from the natural frequency of the diaphragm. It should be noted that the opening direction of the attitude control engine is the same as that of the previous beat, and the opening duration can be set to the control period of 10 ms;

[0068] If the real-time calculated frequency f(i) is close to f c -Δf, that is, the opening frequency of the attitude control engine is low, indicating that the rocket flight is relatively stable, the angular deviation is small, and the external interference is small. The switching instruction can be set to zero to control the attitude control engine to shut down until the end of the current flight period.

[0069] Through the above method, while meeting the attitude control requirements, resonance between the switching frequency and the natural frequency of the diaphragm is avoided, that is, f = fc is avoided. By controlling the attitude control engine to turn on one less time, f < fc - △f is achieved, or by controlling the attitude control engine to turn on one more time, f > fc + △f is achieved. For example, if the avoidance rate of the switching frequency is ±20%, and the natural vibration frequency of the diaphragm is f0, then the switching frequency f should satisfy f < 0.8f0 or f > 1.2f0.

[0070] In an application scenario, in the current flight period (0 s to T0), the number of switchings of the attitude control engine is 5 times, the switching frequency is 25 Hz, the switching frequency is greater than the natural frequency of 20 Hz, and the frequency f(i) is close to f c +Δf, then control the attitude control engine to close and then restart the attitude control engine. At this time, the number of switchings is 6 times, and the switching frequency is 30 Hz. During the rocket flight, by real-time monitoring the switching frequency (fi) of the attitude control engine and correcting the switching instruction, it is ensured that the switching frequency and the natural frequency of the diaphragm always maintain a safe interval.

[0071] Taking the natural frequency of the diaphragm of the rocket body storage tank as 20 Hz as an example, in order to avoid resonance between the switching frequency and the natural frequency, try to avoid the situation where the number of switchings within 0.2 s appears 4 times. Assume that Δf is 5 Hz. If the current number of switchings is equal to 3 times and the switching frequency is 15 Hz, the interference is small at this time, and the instruction is set to zero to turn off the attitude control engine; if the current number of switchings is equal to 5 times and the switching frequency is 25 Hz, the interference is large at this time. After setting the instruction to zero, turn on the engine one more time, and the opening direction is the same as that of the previous beat. According to the corrected switching instruction, control the flight attitude of the rocket body to ensure the stable operation of the rocket body.

[0072] In summary, through a method for controlling the flight attitude of a launch vehicle provided by an embodiment of the present invention, it is possible to correct the on-off commands of the attitude control engine in the current flight period. By inversely adjusting the on-off frequency of the attitude control engine according to the natural frequency of the diaphragm, the on-off frequency and the natural frequency of the tank diaphragm are always not equal in each flight period, preventing resonance from occurring, ensuring that the tank diaphragm is not damaged, and improving the flight safety of the rocket body.

[0073] In a second aspect, based on the same inventive concept, this embodiment provides a control device for the flight attitude of a launch vehicle, as Figure 2 shown, including:

[0074] An acquisition module 401, configured to acquire the on-off frequency of the attitude control engine of the launch vehicle in the current flight period;

[0075] A comparison module 402, configured to compare the on-off frequency with the natural frequency of the diaphragm of the liquid power system tank;

[0076] A correction module 403, configured to correct the on-off command of the attitude control engine in the current flight period according to the comparison result;

[0077] A control module 404, configured to control the flight attitude of the rocket body based on the corrected on-off command.

[0078] As an optional embodiment, the acquisition module 401 includes:

[0079] A first acquisition sub-module, configured to acquire the on-off times of the attitude control engine in the current flight period;

[0080] A second acquisition sub-module, configured to determine the on-off frequency of the attitude control engine of the launch vehicle according to the on-off times and the preset flight period.

[0081] As an optional embodiment, the first acquisition sub-module is specifically configured to: acquire the flight parameters of the launch vehicle; and determine the on-off times of the attitude control engine in the current flight period according to the flight parameters.

[0082] As an optional embodiment, the second acquisition sub-module is specifically configured to: determine the on-off frequency of the attitude control engine of the launch vehicle according to the ratio of the on-off times to the preset flight period.

[0083] As an optional embodiment, the correction module 403 includes:

[0084] A correction sub-module, configured to correct the on-off command of the attitude control engine in the current flight period if the difference between the on-off frequency and the natural frequency is less than the safety threshold.

[0085] As an alternative embodiment, the correction sub-module is specifically configured to: if the switching frequency is greater than the natural frequency and less than or equal to the sum of the natural frequency and the safety threshold, after setting the switching instruction of the attitude control engine in the current flight period to zero, then control the attitude control engine to start; if the switching frequency is less than the natural frequency and greater than or equal to the difference between the natural frequency and the safety threshold, set the switching instruction of the attitude control engine in the current flight period to zero.

[0086] As an alternative embodiment, the device further includes: a natural frequency determination module, configured to obtain the natural frequency of the tank diaphragm by using a modal test.

[0087] The above modules can be implemented by software code. At this time, the above modules can be stored in the memory of the control device. The above modules can also be implemented by hardware such as integrated circuit chips.

[0088] The control device for the flight attitude of a launch vehicle provided by the embodiment of the present invention has the same implementation principle and the same technical effects as those of the foregoing method embodiment. For a brief description, for the parts not mentioned in the device embodiment, reference can be made to the corresponding content in the foregoing method embodiment.

[0089] In a third aspect, based on the same inventive concept, this embodiment provides an on-board computer 500, as Figure 3 shown, including: a memory 501, a processor 502, and a computer program 503 stored on the memory and executable on the processor. When the processor 502 executes the program, the steps of the control method for the flight attitude described in the foregoing first aspect are implemented.

[0090] Since the on-board computer introduced in this embodiment is the on-board computer used to implement the control method for the flight attitude in the embodiment of the present application, based on the control method for the flight attitude introduced in the embodiment of the present application, those skilled in the art can understand the specific implementation manner and various variations of the on-board computer in this embodiment. Therefore, the implementation of how this on-board computer implements the method in the embodiment of the present application will not be described in detail here. As long as the on-board computer used by those skilled in the art to implement the control method for the flight attitude in the embodiment of the present application belongs to the scope of protection of the present application.

[0091] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and combinations of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a means for implementing the specified functions in one or more flows Figure 1 one or more flows and / or blocks Figure 1 or a module for the functions specified in one or more blocks.

[0093] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the specified functions in one or more flows Figure 1 one or more flows and / or blocks Figure 1 or a module for the functions specified in one or more blocks.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the specified functions in one or more flows Figure 1 one or more flows and / or blocks Figure 1 or a module for the functions specified in one or more blocks.

[0095] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0096] Obviously, those skilled in the art can make various changes and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A control method for the flight attitude of a launch vehicle, characterized in that, Including: Obtain the on-off frequency of the attitude control engine of the launch vehicle during the current flight period; Compare the on-off frequency with the natural frequency of the diaphragm of the liquid propulsion system tank; According to the comparison result, correct the on-off command of the attitude control engine during the current flight period; Based on the corrected on-off command, control the flight attitude of the rocket body.

2. The method according to claim 1, characterized in that The obtaining the on-off frequency of the attitude control engine of the launch vehicle during the current flight period includes: Obtain the on-off times of the attitude control engine during the current flight period; According to the on-off times and the preset flight period, determine the on-off frequency of the attitude control engine of the launch vehicle.

3. The method according to claim 2, wherein The obtaining the on-off times of the attitude control engine during the current flight period includes: Obtain the flight parameters of the launch vehicle; According to the flight parameters, determine the on-off times of the attitude control engine during the current flight period.

4. The method according to claim 2, characterized in that, The determining the on-off frequency of the attitude control engine of the launch vehicle according to the on-off times and the preset flight period includes: According to the ratio of the on-off times to the preset flight period, determine the on-off frequency of the attitude control engine of the launch vehicle.

5. The method according to claim 1, characterized in that, The correcting the on-off command of the attitude control engine during the current flight period according to the comparison result includes: If the difference between the on-off frequency and the natural frequency is less than the safety threshold, correct the on-off command of the attitude control engine during the current flight period.

6. The method according to claim 5, characterized in that, The if the difference between the on-off frequency and the natural frequency is less than the safety threshold, then correct the on-off command of the attitude control engine during the current flight period includes: If the on-off frequency is greater than the natural frequency and less than or equal to the sum of the natural frequency and the safety threshold, after setting the on-off command of the attitude control engine during the current flight period to zero, then control the attitude control engine to start; If the on-off frequency is less than the natural frequency and greater than or equal to the difference between the natural frequency and the safety threshold, set the on-off command of the attitude control engine during the current flight period to zero.

7. The method according to claim 1, characterized in that, Before the obtaining the on-off frequency of the attitude control engine of the launch vehicle during the current flight period, further include: Obtain the natural frequency of the tank diaphragm by means of a modal test.

8. A control device for the flight attitude of a launch vehicle, characterized in that, Including: An obtaining module, configured to obtain the on-off frequency of the attitude control engine of the launch vehicle during the current flight period; A comparing module, configured to compare the on-off frequency with the natural frequency of the diaphragm of the liquid propulsion system tank; A correcting module, configured to correct the on-off command of the attitude control engine during the current flight period according to the comparison result; A control module, configured to control the flight attitude of the rocket body based on the corrected on-off command.

9. An on-arrow computer, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, the steps of the method according to any one of claims 1-7 are implemented.

10. A computer-readable storage medium, characterized in that, A program is stored in the computer-readable storage medium, and when the program is executed by the processor, the method according to any one of claims 1-7 is implemented.

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